3M adhesive remover is the best for this and a plastic razor and some patience. I have tried APC, WD-40, Goo Gone, Stoners Citrus Mold Release, and even brake cleaner and the 3m far outperformed everything else. You should be able to get it locally at an auto parts store or hardware store and they have it available at Autogeek as well.
Using a terry cloth towel with a decent nap really helps!
